CN106730721A - A kind of automatic service training system and its service method - Google Patents

A kind of automatic service training system and its service method Download PDF

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Publication number
CN106730721A
CN106730721A CN201611163233.9A CN201611163233A CN106730721A CN 106730721 A CN106730721 A CN 106730721A CN 201611163233 A CN201611163233 A CN 201611163233A CN 106730721 A CN106730721 A CN 106730721A
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China
Prior art keywords
racket
service
automatic
ball
pitching machine
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CN201611163233.9A
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Chinese (zh)
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CN106730721B (en
Inventor
陆英智
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Inventec Appliances Shanghai Corp
Inventec Appliances Pudong Corp
Inventec Appliances Corp
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Inventec Appliances Shanghai Corp
Inventec Appliances Pudong Corp
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Priority to CN201611163233.9A priority Critical patent/CN106730721B/en
Publication of CN106730721A publication Critical patent/CN106730721A/en
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Classifications

    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/40Stationarily-arranged devices for projecting balls or other bodies
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/0017Training appliances or apparatus for special sports for badminton

Abstract

The invention discloses a kind of automatic service training system and its service method.The automatic service training system includes:Automatic pitching machine, including ball serving device, the drop point predicting unit and the first positioning unit of ball serving device service placement position described in real-time anticipation;Racket, including tracker;And second positioning unit and the 3rd positioning unit;The relative position of the tracker of first positioning unit, second positioning unit and the 3rd positioning unit to the racket carries out triangle polyester fibre, obtain positional information of the racket relative to the automatic pitching machine, the automatic pitching machine adjusts the ball serving device, and the service placement position and the position of the positional information for making the drop point predicting unit match.Above-mentioned automatic service training system can reach man-machine interaction according to the position of racket and service placement position adjust automatically ball serving device, improve training quality and effect.

Description

A kind of automatic service training system and its service method
Technical field
The present invention relates to teeing apparatus technical field, specifically, it is related to a kind of automatic service training system and its service Method.
Background technology
With the development and the systematization of training athlete of technology, science and technology is progressively dissolved into the daily workout of sportsman. For racket motion, the motion such as shuttlecock, tennis, table tennis, training mate mode is progressively converted into service by artificial training mate Machine is served a ball the mode of training mate automatically, so as to reach the purpose for improving training strength and saving manpower.
Existing service robot needs artificial height, serve speed and the serving position for regulating service robot before service, Or it is random served a ball in presumptive area, the regulative mode belongs to static regulation, it is impossible to striking speed according to sportsman, hit The change of ball position dynamically adjusts serving position, is a relatively simple open system, it is impossible to realize man-machine interaction, Training quality and effect cannot be effectively improved.
The content of the invention
For problems of the prior art, one aspect of the present invention provides a kind of automatic service training system, including:
Automatic pitching machine, including ball serving device, the drop point prediction list of ball serving device service placement position described in real-time anticipation Unit and the first positioning unit;
Racket, including tracker;And
Second positioning unit and the 3rd positioning unit;
The tracker of first positioning unit, second positioning unit and the 3rd positioning unit to the racket Relative position carry out triangle polyester fibre, obtain positional information of the racket relative to the automatic pitching machine, the automatic hair Ball machine adjusts the ball serving device, makes the service placement position of the drop point predicting unit and the position phase of the positional information Match somebody with somebody.
Preferably, the service placement position of the drop point predicting unit is identical with the position of the positional information.
Preferably, the service placement position of the drop point predicting unit is located at the position of the positional information as the center of circle, X Rice is in the border circular areas of radius.
Preferably, the service placement position of the drop point predicting unit is located at the position of the positional information as the center of circle, X Rice is internal diameter, and Y meters in the circle ring area of external diameter, Y is more than X.
Preferably, first positioning unit, second positioning unit and the 3rd positioning unit are respectively first Bluetooth Receiver, the second Bluetooth Receiver and the 3rd Bluetooth Receiver.
Preferably, the tracker includes the bluetooth transmitters for transmission information and positioning.
Preferably, the tracker also includes acceleration transducer, gyro sensor and piezoelectric transducer, the acceleration Degree sensor is used to sense the acceleration of swinging the bat of the racket, and the gyro sensor is used to sense the angle of swinging the bat of the racket Speed, the piezoelectric transducer is used to sense whether the racket hits a ball.
Preferably, the racket includes frame and handle, the acceleration transducer, the gyro sensor and described Bluetooth transmitters are arranged on the handle, and the piezoelectric transducer is arranged on the frame.
Preferably, the automatic pitching machine sends shuttlecock, and the racket is racket.
Another aspect of the present invention provides a kind of service method of above-mentioned automatic service training system, including:
Set the service difficulty of the automatic pitching machine;
The tracker sending signal, first positioning unit, second positioning unit and the 3rd positioning are single Unit carries out triangle polyester fibre to the relative position of the tracker of the racket, obtains the racket relative to the automatic pitching machine The positional information of the racket is transferred to the automatic pitching machine by positional information, the tracker;
The automatic pitching machine receives the positional information of the racket, adjusts the ball serving device, predicts the drop point The service placement position of unit matches with the position of the positional information, and is served a ball according to default difficulty.
Preferably, the tracker also senses swinging the bat for the racket and acceleration and swings the bat angular speed, and by the racket Swing the bat acceleration and angular speed of swinging the bat is transferred to the automatic pitching machine, the automatic pitching machine is according to the acceleration of swinging the bat for receiving Angular speed of spending and swing the bat is modified to the positional information of the racket, make the service placement position of the drop point predicting unit with The position of the revised positional information matches, and is served a ball according to default difficulty.
Preferably, the tracker also senses whether the racket hits a ball, and by the hit condition information of the racket The automatic pitching machine is transferred to, the automatic pitching machine is accumulated the hit condition information of the racket for receiving, when It is continuous hit number of times reach it is default it is continuous hit number of times, or it is continuous do not hit number of times reach it is default continuously do not hit number of times, The default difficulty of automatic pitching machine adjust automatically is simultaneously served a ball.
Preferably, setting the service difficulty of the automatic pitching machine includes the service placement of the setting drop point predicting unit At least one in the distance between position and racket, serve speed and the adjacent time interval served a ball twice.
Compared with prior art, the automatic service training system and its service method that the present invention is provided at least have with following Beneficial effect:
Automatic service training system of the invention can follow the trail of the position of racket, and position and the drop point prediction according to racket are single The real-time anticipation ball serving device service placement position of unit, adjust automatically ball serving device makes the service placement position of drop point predicting unit Put and match with the position of the positional information of racket, without manual intervention during motion, so as to reach man-machine interaction, improve Training quality and effect.
Brief description of the drawings
Its example embodiment is described in detail by referring to accompanying drawing, above and other feature of the invention and advantage will become It is more obvious.
Fig. 1 is the arrangement schematic diagram of the automatic service training system in court of the embodiment of the present invention.
Fig. 2 is the structural representation of the racket of the embodiment of the present invention.
Fig. 3 is the drop point site schematic diagram of the racket with ball of the embodiment of the present invention.
Fig. 4 is the flow chart of the service method of the embodiment of the present invention.
Specific embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with various shapes Formula is implemented, and is not understood as limited to implementation method set forth herein;Conversely, thesing embodiments are provided so that the present invention more Fully and completely, and by the design of example embodiment those skilled in the art is comprehensively conveyed to.Identical is attached in figure Icon note represents same or similar structure, thus will omit repetition thereof.
Fig. 1 is the arrangement schematic diagram of the automatic service training system in court of the embodiment of the present invention, and Fig. 2 is implementation of the present invention The structural representation of the racket of example.Referring to Figures 1 and 2, automatic service training system of the invention includes:Automatic pitching machine 10, Racket 20, the second positioning unit 30 and the 3rd positioning unit 40.
Automatic pitching machine 10 includes ball serving device 11, drop point predicting unit (not shown) and the first positioning unit 12.Wherein, Automatic pitching machine 10 is based on the positional information of racket 20 and the service placement position adjust automatically ball serving device of drop point predicting unit 11, the position of the service placement positional distance racket 20 of such as drop point predicting unit anticipation ball serving device 11 excessively closely or too far after, The ball of adjust automatically ball serving device 11 to ball launch angle and serve speed, make the service placement position of the ball serving device 11 of anticipation With the distance between the position of racket 20 in the range of setting.It is difficult that automatic pitching machine 10 can further preset service Degree, including change service placement position by changing ball launch angle and speed, change serve speed, change what neighbour served a ball twice Time interval.In one embodiment, ball serving device 11 includes emission part and control unit (not shown), the concrete structure of emission part Known structure can be used, be will not be described here, control unit can be according to the positional information of racket 20, and adjusting emission part makes drop point pre- The service placement position for surveying unit matches with the positional information of racket 20, then according to the hair of default adjusting of difficulty emission part Ball speed, the adjacent time interval served a ball twice are served a ball.Alternatively, automatic pitching machine 10 send ball be shuttlecock, tennis, One kind in table tennis, in the present embodiment, the ball that automatic pitching machine 10 sends is shuttlecock.
Drop point predicting unit is capable of the service placement position of the ball serving device of anticipation in real time 11, and automatic pitching machine 10 is according to reception Racket 20 relative to automatic pitching machine 10 positional information adjust ball serving device 11, make the service placement of drop point predicting unit Position matches with the position of the positional information of racket 20.Specifically, can be according between service placement position and racket 20 Distance by it is default service difficulty be divided into multiple grade of difficulty, reference picture 3, the service placement position of drop point predicting unit and ball Clap 20 positional information position it is identical, the first grade of difficulty can be defined as, under the grade of difficulty, ball serving device 11 directly to Served a ball at the position of racket 20, sportsman is easy to be connected to ball;The service placement position of drop point predicting unit is located at racket 20 Positional information position be the center of circle, X meter be radius border circular areas in, the second grade of difficulty can be defined as, the difficulty etc. Under level, ball serving device 11 is served a ball in a border circular areas, and sportsman is easier to be connected to ball;The service placement position of drop point predicting unit Setting in the position of the positional information of racket 20 as the center of circle, X meters is internal diameter, and Y meters is that in the circle ring area of external diameter, Y is more than X, The 3rd grade of difficulty can be defined as, under the grade of difficulty, ball serving device 11 is served a ball in an annular region, and sportsman needs fortune Dynamic certain distance can just be connected to ball, with certain difficulty;Ball serving device 11 can also further to the annulus of more outer ring Served a ball in domain, to form grade of difficulty higher, will not be described here.
First positioning unit 12 is used to be engaged chasing after to racket 20 with the second positioning unit 30 and the 3rd positioning unit 40 The relative position of track device carries out triangle polyester fibre, obtains positional information of the racket 20 relative to automatic pitching machine 10.It is preferably real one Apply in example, the first positioning unit 12, the second positioning unit 30 and the 3rd positioning unit 40 are respectively the first Bluetooth Receiver, second Bluetooth Receiver and the 3rd Bluetooth Receiver, the first Bluetooth Receiver, the second Bluetooth Receiver and the 3rd Bluetooth Receiver are received The Bluetooth signal of tracker, positions according to power of Bluetooth signal for receiving etc. to the position of racket 20.In the present embodiment, from The dynamic arrangement of service robot 10 T-ground, the second positioning unit 30 and the 3rd positioning unit 40 are arranged in outside court, and the first positioning is single First 12, second positioning unit 30 and the 3rd positioning unit 40 are triangularly arranged.
Racket 20 includes tracker, and further, racket 20 includes frame 21 and handle 22.One of tracker acts on It is engaged and the position of racket 20 is positioned in the first positioning unit 12, the second positioning unit 30 and the 3rd positioning unit 40 And transmission information is to automatic pitching machine 10.Frame 21 is used to bat, and handle 22 is used for the gripping of sportsman, further, racket 20 dabbers 23 for also including connection frame 21 and handle 22, in the present embodiment, racket 20 is racket.
In a preferred embodiment, tracker includes the bluetooth transmitters 244 for transmission information and positioning, bluetooth hair Device 244 is sent to be determined for sending Bluetooth signal to the first positioning unit 12, the second positioning unit 30 and the 3rd positioning unit 40 Position, and positional information is transmitted to automatic pitching machine 10.
Further, tracker also includes acceleration transducer 241, gyro sensor 242 and piezoelectric transducer 243, Acceleration transducer 241 is used to sense the acceleration of swinging the bat of racket 20, and gyro sensor 242 is used to sense swinging the bat for racket 20 Angular speed, piezoelectric transducer 243 is used to sense whether racket 20 hits a ball, for example, sense ball by the deformation degree of Combat Information/Detection Net Clap whether 20 hit a ball.The acceleration of swinging the bat for obtaining, angular speed and the hit condition information transfer of swinging the bat are passed through bluetooth by tracker Transmitter 244 is transmitted to automatic pitching machine 10.
Automatic pitching machine 10 according to obtain racket 20 swing the bat acceleration and swing the bat angular speed can be to the position of racket 20 Confidence breath be modified, and then stable position accuracy.Specifically, as a sportsman for right hand-held racket from the place left side Backhand is when swing the bat after going to the right, and the position that the data of the positioning of racket 20 can only feed back racket 20 moves on to from the place left side Place is turned left and moves a small distance again after the right, can not embody the position of current kinetic person's reality, but sportsman When backhand is swung the bat, acceleration transducer 241 and gyro sensor 242 can detect different directions when being swung the bat with forehand Acceleration and angular speed, with this data as the negative-feedback of positioning, is capable of the accuracy of stable position, and then accurately reflects and work as The preceding real-time position of sportsman.Due to service grade of difficulty ratio being based on based on the distance between service placement position and sportsman Service placement position is more accurate by service grade of difficulty with the distance between racket 20, therefore, by using acceleration of swinging the bat Tried again after being modified to the positional information of racket 20 with angular velocity information of swinging the bat, the service grade of difficulty for being embodied is more accurate Really.
Automatic pitching machine 10 can be accumulated the hit condition information of the racket 20 of reception, automatic according to accumulation results Adjust default difficulty and served a ball.Specifically, continuous will hit number of times with it is default it is continuous hit number of times and be compared, Or will not hit continuously number of times with it is default it is continuous do not hit number of times and be compared, default difficulty is adjusted simultaneously according to comparative result Again serve a ball, for example, continuous hitting increases default service difficulty when number of times reaches setting value, number of times is not hit continuously reach and set Reduce default service difficulty during definite value, so as to reach the purpose of the difficulty that can be served a ball according to training degree adjust automatically.
In one embodiment, acceleration transducer 241, gyro sensor 242 and bluetooth transmitters 244 are arranged at ball Clap on 20 handle 22, piezoelectric transducer 243 is arranged on the frame 21 of racket 20.In the present embodiment, racket 20 is shuttlecock Clap, acceleration transducer 241, gyro sensor 242 and bluetooth transmitters 244 are arranged at the bottom of handle 22, i.e. handle 22 The one end away from frame 21, piezoelectric transducer 243 is arranged at the junction of frame 21 and dabber 23.
In one embodiment, racket 20 also includes battery (not shown) and for the charging device that battery charges (does not show Go out), battery is powered for tracker.In the present embodiment, battery and charging device are located at the bottom of handle 22, and by wire (not Show) electrically connected with acceleration transducer 241, gyro sensor 242, piezoelectric transducer 243, bluetooth transmitters 244, it is it Power supply.
The present invention also provides a kind of service method of above-mentioned automatic service training system, including step S1, S2 and S3.
S1:Set the service difficulty of automatic pitching machine 10.
Specifically, the service difficulty of setting automatic pitching machine 10 includes the service placement position of setting drop point predicting unit With at least one in the distance between racket 20, serve speed and the adjacent time interval served a ball twice.Reference picture 3, can be with Default service difficulty is divided into multiple grade of difficulty according only to the distance between service placement position and racket 20, due to service Speed and the adjacent time interval served a ball twice can equally be impacted to the batting of sportsman, and hence it is also possible to according to service Default service difficulty is divided into multiple grade of difficulty by speed, the adjacent time interval served a ball twice.It should be noted that this hair It is bright not limit the specific of the distance between service placement position and racket 20, serve speed and the adjacent time interval served a ball twice Magnitude relationship, can be configured as needed.
S2:Tracker sending signal, the first positioning unit 12, the second positioning unit 30 and the 3rd positioning unit 40 are to racket The relative position of 20 tracker carries out triangle polyester fibre, obtains positional information of the racket 20 relative to automatic pitching machine 10, follows the trail of The positional information of racket 20 is transferred to automatic pitching machine 10 by device.
Specifically, the first positioning unit 12, the second positioning unit 30 and the 3rd positioning unit 40 are respectively the first bluetooth When receiver, the second Bluetooth Receiver and three Bluetooth Receivers, by the first Bluetooth Receiver, the second Bluetooth Receiver and The Bluetooth signal that the bluetooth transmitters 244 of the tracker that three Bluetooth Receivers are received send, detecting 20 to three bluetooths of racket connect The relative distance of device is received to obtain positional information of the racket 20 relative to automatic pitching machine 10.
In a preferred embodiment, in step S2, tracker also senses swing the bat acceleration and the angle speed of swinging the bat of racket 20 Degree, and swing the bat acceleration and the angular speed of swinging the bat of racket 20 are transferred to automatic pitching machine 10, automatic pitching machine 10 is according to reception Swing the bat acceleration and angular speed of swinging the bat is modified to the positional information of racket 20, make the service placement position of drop point predicting unit Put and match with the position of revised positional information, and served a ball according to default difficulty, by the position to racket 20 Information is modified, the accuracy of stable position, actual service difficulty is accurately corresponded to default difficulty.
S3:Automatic pitching machine 10 receives the positional information of racket 20, adjusts ball serving device 11, makes the hair of drop point predicting unit Placement position matches with the position of positional information, and is served a ball according to default difficulty.
In a preferred embodiment, after service, tracker also senses whether racket 20 hits a ball, and hitting racket 20 Middle status information is transferred to automatic pitching machine 10, and automatic pitching machine 10 is tired out the hit condition information of the racket 20 of reception Product, when it is continuous hit number of times reach it is default it is continuous hit number of times, or it is continuous do not hit number of times and reach default do not hit continuously Number of times, the default difficulty of the adjust automatically of automatic pitching machine 10 is simultaneously served a ball.
By it is default it is continuous hit number of times for 10 times, it is default it is continuous do not hit number of times for 10 times as a example by, continuously hit time After number reaches 10 times, the default difficulty of the adjust automatically of automatic pitching machine 10, such as by increasing the service placement of drop point predicting unit The distance between position and racket 20, serve speed or the adjacent time interval served a ball twice of shortening are improved to increase default difficulty Degree;Continuous not hit after number of times reaches 10 times, the default difficulty of the adjust automatically of ball serving device 11 such as is predicted singly by reducing drop point The distance between service placement position and racket 20 of unit, reduction serve speed or the adjacent time interval served a ball twice of extension with Default difficulty is reduced, otherwise, keeps former default difficulty to be served a ball, so as to reach the purpose of Intelligent control.
Fig. 4 is the flow chart of the service method of the embodiment of the present invention, with reference to Fig. 4, to one specific implementation of the present invention The service process of example is described.
S11:Set the service difficulty of automatic pitching machine 10.
S12:Tracker sending signal simultaneously passes through the first positioning unit 12, the second positioning unit 30 and the 3rd positioning unit 40 Racket 20 is positioned, the positional information of racket 20 is transferred to automatic pitching machine 10.
S13:Positional information adjustment ball serving device 11 according to racket 20, make the service placement position of drop point predicting unit with The position of the positional information of racket 20 matches, and is served a ball to sportsman according to default difficulty.
S21:Whether the piezoelectric transducer 243 on racket 20 is sensed hits a ball, and when hitting a ball, carries out step S22, does not hit During ball, step S23 is carried out.
S22:When hitting a ball, automatic pitching machine 10 judges continuously to hit whether number of times reaches 10 times, reaches 10 times, is walked Rapid S31, at not up to 10 times, re-starts step S12, and automatic pitching machine 10 is positioned to racket 20 and kept primary again Ball difficulty is served a ball.
S23:When not hitting a ball, automatic pitching machine 10 judges continuously not hitting whether number of times reaches 10 times, reaches 10 times, enters Row step S31, at not up to 10 times, re-starts step S12, and automatic pitching machine 10 is positioned and kept to racket 20 again Primary ball difficulty is served a ball.
S31:Automatic pitching machine 10 judges continuously to hit number of times and reaches 10 times or continuous when not hitting number of times and reaching 10 times, from The dynamic default difficulty of adjust automatically of service robot 10.For example, continuous hit after number of times reaches 10 times, automatic pitching machine 10 shortens automatically The adjacent time interval served a ball twice is increasing default difficulty and serve a ball again;It is continuous not hit after number of times reaches 10 times, from Dynamic service robot 10 automatically prolongs the adjacent time interval served a ball twice to reduce default difficulty and serve a ball again, so as to reach intelligence The purpose that can be manipulated.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from principle of the invention and objective In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.

Claims (13)

1. a kind of automatic service training system, it is characterised in that including:
Automatic pitching machine, including ball serving device, the drop point predicting unit of ball serving device service placement position described in real-time anticipation and First positioning unit;
Racket, including tracker;And
Second positioning unit and the 3rd positioning unit;
The phase of the tracker of first positioning unit, second positioning unit and the 3rd positioning unit to the racket Triangle polyester fibre is carried out to position, positional information of the racket relative to the automatic pitching machine, the automatic pitching machine is obtained The ball serving device is adjusted, the service placement position and the position of the positional information for making the drop point predicting unit match.
2. automatic service training system according to claim 1, it is characterised in that the service of the drop point predicting unit falls Point position is identical with the position of the positional information.
3. automatic service training system according to claim 1, it is characterised in that the service of the drop point predicting unit falls Point position is located at the position of the positional information as the center of circle, and X meters in the border circular areas of radius.
4. automatic service training system according to claim 1, it is characterised in that the service of the drop point predicting unit falls Point position is located at the position of the positional information as the center of circle, and X meters is internal diameter, and Y meters in the circle ring area of external diameter, Y is more than X.
5. automatic service training system according to claim 1, it is characterised in that first positioning unit, described Two positioning units and the 3rd positioning unit are respectively the first Bluetooth Receiver, the second Bluetooth Receiver and the 3rd Bluetooth receptions Device.
6. automatic service training system according to claim 1, it is characterised in that the tracker includes believing for transmitting The bluetooth transmitters of breath and positioning.
7. automatic service training system according to claim 6, it is characterised in that the tracker is also passed including acceleration Sensor, gyro sensor and piezoelectric transducer, the acceleration transducer are used to sense the acceleration of swinging the bat of the racket, institute Gyro sensor is stated for sensing whether the angular speed of swinging the bat of the racket, the piezoelectric transducer are used for sensing the racket Hit a ball.
8. automatic service training system according to claim 7, it is characterised in that the racket includes frame and handle, The acceleration transducer, the gyro sensor and the bluetooth transmitters are arranged on the handle, and the piezoelectricity is passed Sensor is arranged on the frame.
9. the automatic service training system according to claim 1 to 8 any one, it is characterised in that the automatic service Machine sends shuttlecock, and the racket is racket.
10. the service method of automatic service training system described in a kind of claim 1, it is characterised in that including:
Set the service difficulty of the automatic pitching machine;
The tracker sending signal, first positioning unit, second positioning unit and the 3rd positioning unit pair The relative position of the tracker of the racket carries out triangle polyester fibre, obtains position of the racket relative to the automatic pitching machine The positional information of the racket is transferred to the automatic pitching machine by information, the tracker;
The automatic pitching machine receives the positional information of the racket, adjusts the ball serving device, makes the drop point predicting unit Service placement position match with the position of the positional information, and served a ball according to default difficulty.
11. service methods according to claim 10, it is characterised in that the tracker also senses swinging the bat for the racket Acceleration and angular speed of swinging the bat, and swing the bat acceleration and the angular speed of swinging the bat of the racket are transferred to the automatic pitching machine, The automatic pitching machine is modified according to swing the bat acceleration and the angular speed of swinging the bat that receive to the positional information of the racket, makes The service placement position of the drop point predicting unit matches with the position of the revised positional information, and according to default Difficulty is served a ball.
12. service methods according to claim 10, it is characterised in that the tracker also senses whether the racket hits Middle ball, and give the automatic pitching machine, the institute that the automatic pitching machine will be received by the hit condition information transfer of the racket The hit condition information for stating racket is accumulated, when it is continuous hit number of times and reach default continuously hit number of times, or do not hit continuously Middle number of times reach it is default continuously do not hit number of times, the default difficulty of automatic pitching machine adjust automatically is simultaneously served a ball.
The 13. service method according to claim 10 to 12 any one, it is characterised in that the setting automatic pitching machine Service difficulty include the distance between the service placement position of the setting drop point predicting unit and racket, serve speed and phase At least one in the time interval served a ball twice of neighbour.
CN201611163233.9A 2016-12-15 2016-12-15 A kind of automatic service training system and its method of serving a ball Active CN106730721B (en)

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CN107899211A (en) * 2017-11-03 2018-04-13 杭州乾博科技有限公司 A kind of table tennis ball positioning method and system based on relative distance difference
CN108970075A (en) * 2018-07-30 2018-12-11 蚌埠惊涛精密机械有限公司 A kind of table tenning ball servicing machine control device and method based on image
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CN112535853A (en) * 2020-12-07 2021-03-23 深兰科技(上海)有限公司 Automatic ball feeding method and device and ball feeding machine

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